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Room Layout Estimation on Mobile Devices

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Room Layout Estimation on Mobile Devices En vue de l'obtention du DOCTORAT DE L'UNIVERSITÉ DE TOULOUSE Délivré par : Institut National Polytechnique de Toulouse (Toulouse INP) Discipline ou spécialité : Image, Information et Hypermédia Présentée et soutenue par : M. VINCENT ANGLADON le vendredi 27 avril 2018 Titre : Room layout estimation on mobile devices Ecole doctorale : Mathématiques, Informatique, Télécommunications de Toulouse (MITT) Unité de recherche : Institut de Recherche en Informatique de Toulouse (I.R.I.T.) Directeur(s) de Thèse : M. VINCENT CHARVILLAT M. SIMONE GASPARINI Rapporteurs : M. CARSTEN GRIWODZ, UNIVERSITE D'OSLO M. DAVID FOFI, UNIVERSITE DE BOURGOGNE Membre(s) du jury : Mme LUCE MORIN, INSA DE RENNES, Président M. PASCAL BERTOLINO, UNIVERSITE GRENOBLE ALPES, Membre M. SIMONE GASPARINI, INP TOULOUSE, Membre M. TOMISLAV PRIBANIC, UNIVERSITE DE ZAGREB, Membre M. VINCENT CHARVILLAT, INP TOULOUSE, Membre Acknowledgments I would like to thank my thesis committee for giving me the opportunity to work on an exciting topic, and for the trust they placed in me. First, Simone Gasparini, I had the pleasure to have as advisor, who kept a cautious eye on my scientific and technical productions. I am certain this great attention to the details played an important role in the quality of my publications and the absence of rejection notice. Then, my thesis director, Vincent Charvillat, who was always generous in original ideas and positive energy. His advice helped me to put a more flattering light on my works and feel more optimistic. Finally, Telequid, which funded my works, with a special thought to Frédéric Bruel and Benjamin Ahsan for their great patience. I would also like to thank my referees: Prof. Carsten Griwodz and Prof. David Fofi for their constructive feedbacks, as well as all the members of the jury for the great interest they manifested during the defense. In the context of the Cogito project, I had the pleasure to collaborate with Tomislav Pribanic,´ Tomislav Petkovic,´ and Matea Ðonlic,´ who gave me valuable feedbacks and with who I had pleasant exchanges. The different atmospheres in which I floated played also a significant role. First, the pleasant ambiance in the IRIT laboratory at the ENSEEIHT school, in particular, the REVA team, where I enjoyed discussing with the permanents, the post-docs, and the Ph.D. students, with its delicious breaks and seminaries, the motivating atmosphere of the company, simultaneously busy and relaxed, and finally the precious mood of my friends and the members of my family, in particular, my parent I deeply thank for their great support. i Résumé Titre : Création de plans d’intérieur avec une tablette Mots-clés : scène intérieur, plan, reconstruction 3D, mobile, smartphone, tablette, capteur de pro- fondeur, point de fuite, nuage de points, intéraction utilisateur L’objectif de cette thèse CIFRE est d’étudier et de tirer parti des derniers appareils mobiles du marché pour générer des 3D des pièces observées. De nous jours, ces appareils intègrent un grand nombre de capteurs, tel que des capteurs inertiels, des caméras RGB, et depuis peu, des capteurs de profondeur. Sans compter la présence de l’écran tactile qui offre une interface pour interagir avec l’utilisateur. Un cas d’usage typique de ces modèles 3D est la génération de plans d’intérieur, ou de fichiers CAO 3D (conception assistée par ordinateur) appliqués à l’industrie du bâtiment. Le modèle permet d’esquisser les travaux de rénovation d’un appartement, ou d’évaluer la fidélité d’un chantier en cours avec le modèle initial. Pour le secteur de l’immobilier, la génération automatique de plans et mod- èles 3D peut faciliter le calcul de la surface habitable et permet de proposer des visites virtuelles à d’éventuels acquéreurs. Concernant le grand public, ces modèles 3D peuvent être intégrés à des jeux en réalité mixte afin d’offrir une expérience encore plus immersive, ou pour des applications de réalité augmentée, telles que la décoration d’intérieur. La thèse a trois contributions principales. Nous commençons par montrer comment le prob- lème classique de détection des points de fuite dans une image, peut être revisité pour tirer parti de l’utilisation de données inertielles. Nous proposons un algorithme simple et efficace de détection de points de fuite reposant sur l’utilisation du vecteur gravité obtenu via ces données. Un nouveau jeu de données contenant des photos avec des données inertielles est présenté pour l’évaluation d’algorithmes d’estimation de points de fuite et encourager les travaux ultérieurs dans cette direction. Dans une deuxième contribution, nous explorons les approches d’odométrie visuelle de l’état de l’art qui exploitent des capteurs de profondeur. Localiser l’appareil mobile en temps réel est fonda- mental pour envisager des applications reposant sur la réalité augmentée. Nous proposons une com- paraison d’algorithmes existants développés en grande partie pour ordinateur de bureau, afin d’étudier si leur utilisation sur un appareil mobile est envisageable. Pour chaque approche considérée, nous évaluons la précision de la localisation et les performances en temps de calcul sur mobile. Enfin, nous présentons une preuve de concept d’application permettant de générer le plan d’une pièce, en utilisant une tablette du projet Tango, équipée d’un capteur RGB-D. Notre algorithme ef- fectue un traitement incrémental des données 3D acquises au cours de l’observation de la pièce con- sidérée. Nous montrons comment notre approche utilise les indications de l’utilisateur pour corriger pendant la capture le modèle de la pièce. iii Abstract Title: Room layout estimation on mobile devices Keywords: indoor, room layout, floor plan, 3D reconstruction, mobile, smartphone, tablet, depth sensor, vanishing point, point cloud, user interaction Room layout generation is the problem of generating a drawing or a digital model of an existing room from a set of measurements such as laser data or images. The generation of floor plans can find application in the building industry to assess the quality and the correctness of an ongoing construction w.r.t. the initial model, or to quickly sketch the renovation of an apartment. Real estate industry can rely on automatic generation of floor plans to ease the process of checking the livable surface and to propose virtual visits to prospective customers. As for the general public, the room layout can be integrated into mixed reality games to provide a better immersiveness experience, or used in other related augmented reality applications such room redecoration. The goal of this industrial thesis (CIFRE) is to investigate and take advantage of the state-of-the art mobile devices in order to automate the process of generating room layouts. Nowadays, modern mobile devices usually come a wide range of sensors, such as inertial motion unit (IMU), RGB cameras and, more recently, depth cameras. Moreover, tactile touchscreens offer a natural and simple way to interact with the user, thus favoring the development of interactive applications, in which the user can be part of the processing loop. This work aims at exploiting the richness of such devices to address the room layout generation problem. The thesis has three major contributions. We first show how the classic problem of detecting vanishing points in an image can benefit from an a-priori given by the IMU sensor. We propose a simple and effective algorithm for detecting vanishing points relying on the gravity vector estimated by the IMU. A new public dataset containing images and the relevant IMU data is introduced to help assessing vanishing point algorithms and foster further studies in the field. As a second contribution, we explored the state-of-the-art of real-time localization and map op- timization algorithms for RGB-D sensors. Real-time localization is a fundamental task to enable augmented reality applications, and thus it is a critical component when designing interactive applica- tions. We propose an evaluation of existing algorithms for the common desktop set-up in order to be employed on a mobile device. For each considered method, we assess the accuracy of the localization as well as the computational performances when ported on a mobile device. Finally, we present a proof of concept of application able to generate the room layout relying on a Project Tango tablet equipped with an RGB-D sensor. In particular, we propose an algorithm that incrementally processes and fuses the 3D data provided by the sensor in order to obtain the layout of the room. We show how our algorithm can rely on the user interactions in order to correct the generated 3D model during the acquisition process. v Contents Acknowledgments i Résumé iii Abstract v 1 Introduction 1 1.1 Ph.D. context ....................................... 2 1.2 Room layout generation .................................. 2 1.3 Industrial state of the art ................................. 3 1.3.1 Acquisition devices ................................ 3 1.3.2 Modeling software and services ......................... 6 1.4 Another solution ..................................... 7 1.5 Contributions ....................................... 8 2 Positioning 9 2.1 Assumptions ....................................... 10 2.2 Challenges ......................................... 11 2.2.1 Visualization and User interaction ........................ 12 2.2.2 System Acquisition ................................ 13 2.2.3 System Localization ............................... 14 2.2.4 System Data interpretation and modeling ...................
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